diff --git a/esphome/components/time_based_tilt/__init__.py b/esphome/components/time_based_tilt/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/esphome/components/time_based_tilt/cover.py b/esphome/components/time_based_tilt/cover.py
new file mode 100644
index 0000000000..6af94e1fa6
--- /dev/null
+++ b/esphome/components/time_based_tilt/cover.py
@@ -0,0 +1,70 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome import automation
+from esphome.components import cover
+from esphome.const import (
+    CONF_CLOSE_ACTION,
+    CONF_CLOSE_DURATION,
+    CONF_ID,
+    CONF_OPEN_ACTION,
+    CONF_OPEN_DURATION,
+    CONF_STOP_ACTION,
+    CONF_ASSUMED_STATE,
+)
+
+time_based_tilt_ns = cg.esphome_ns.namespace("time_based_tilt")
+TimeBasedTiltCover = time_based_tilt_ns.class_("TimeBasedTiltCover", cover.Cover, cg.Component)
+
+CONF_TILT_OPEN_DURATION = "tilt_open_duration"
+CONF_TILT_CLOSE_DURATION = "tilt_close_duration"
+CONF_INTERLOCK_WAIT_TIME = "interlock_wait_time"
+CONF_RECALIBRATION_TIME = "recalibration_time"
+CONF_INERTIA_OPEN_TIME = "inertia_open_time"
+CONF_INERTIA_CLOSE_TIME = "inertia_close_time"
+
+CONFIG_SCHEMA = cover.COVER_SCHEMA.extend(
+    {
+        cv.GenerateID(): cv.declare_id(TimeBasedTiltCover),
+        cv.Required(CONF_STOP_ACTION): automation.validate_automation(single=True),
+        cv.Required(CONF_OPEN_ACTION): automation.validate_automation(single=True),
+        cv.Required(CONF_OPEN_DURATION): cv.positive_time_period_milliseconds,
+        cv.Required(CONF_CLOSE_ACTION): automation.validate_automation(single=True),
+        cv.Required(CONF_CLOSE_DURATION): cv.positive_time_period_milliseconds,
+        cv.Required(CONF_CLOSE_DURATION): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_ASSUMED_STATE, default=True): cv.boolean,
+        cv.Optional(CONF_TILT_OPEN_DURATION, default="0ms"): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_TILT_CLOSE_DURATION, default="0ms"): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_INTERLOCK_WAIT_TIME, default="0ms"): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_RECALIBRATION_TIME, default="0ms"): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_INERTIA_OPEN_TIME, default="0ms"): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_INERTIA_CLOSE_TIME, default="0ms"): cv.positive_time_period_milliseconds,
+    }
+).extend(cv.COMPONENT_SCHEMA)
+
+
+async def to_code(config):
+    var = cg.new_Pvariable(config[CONF_ID])
+    await cg.register_component(var, config)
+    await cover.register_cover(var, config)
+
+    await automation.build_automation(
+        var.get_stop_trigger(), [], config[CONF_STOP_ACTION]
+    )
+
+    cg.add(var.set_open_duration(config[CONF_OPEN_DURATION]))
+    await automation.build_automation(
+        var.get_open_trigger(), [], config[CONF_OPEN_ACTION]
+    )
+
+    cg.add(var.set_close_duration(config[CONF_CLOSE_DURATION]))
+    await automation.build_automation(
+        var.get_close_trigger(), [], config[CONF_CLOSE_ACTION]
+    )
+
+    cg.add(var.set_tilt_open_duration(config[CONF_TILT_OPEN_DURATION]))
+    cg.add(var.set_tilt_close_duration(config[CONF_TILT_CLOSE_DURATION]))
+    cg.add(var.set_interlock_wait_time(config[CONF_INTERLOCK_WAIT_TIME]))
+    cg.add(var.set_recalibration_time(config[CONF_RECALIBRATION_TIME]))
+    cg.add(var.set_inertia_close_time(config[CONF_INERTIA_CLOSE_TIME]))
+    cg.add(var.set_inertia_open_time(config[CONF_INERTIA_OPEN_TIME]))
+    cg.add(var.set_assumed_state(config[CONF_ASSUMED_STATE]))
diff --git a/esphome/components/time_based_tilt/time_based_tilt_cover.cpp b/esphome/components/time_based_tilt/time_based_tilt_cover.cpp
new file mode 100644
index 0000000000..3ae95d3788
--- /dev/null
+++ b/esphome/components/time_based_tilt/time_based_tilt_cover.cpp
@@ -0,0 +1,311 @@
+#include "time_based_tilt_cover.h"
+#include "esphome/core/log.h"
+#include "esphome/core/hal.h"
+
+namespace esphome {
+namespace time_based_tilt {
+
+static const char *const TAG = "time_based_tilt.cover";
+
+using namespace esphome::cover;
+
+void TimeBasedTiltCover::dump_config() {
+  LOG_COVER("", "Time Based Tilt Cover", this);
+  ESP_LOGCONFIG(TAG, "  Open Duration: %.3fs", this->open_duration_ / 1e3f);
+  ESP_LOGCONFIG(TAG, "  Close Duration: %.3fs", this->close_duration_ / 1e3f);
+  ESP_LOGCONFIG(TAG, "  Tilt Close Duration: %.3fs", this->tilt_close_duration_ / 1e3f);
+  ESP_LOGCONFIG(TAG, "  Tilt Open Duration: %.3fs", this->tilt_open_duration_ / 1e3f);
+  ESP_LOGCONFIG(TAG, "  Interlock wait time: %.3fs", this->interlock_wait_time_ / 1e3f);
+  ESP_LOGCONFIG(TAG, "  Inertia close time: %.3fs", this->inertia_close_time_ / 1e3f);
+  ESP_LOGCONFIG(TAG, "  Inertia open time: %.3fs", this->inertia_open_time_ / 1e3f);
+  ESP_LOGCONFIG(TAG, "  Recalibration time: %.3fs", this->recalibration_time_ / 1e3f);
+}
+void TimeBasedTiltCover::setup() {
+  auto restore = this->restore_state_();
+  if (restore.has_value()) {
+    restore->apply(this);
+  } else {
+    this->position = 0.5f;
+    this->tilt = 0.5f;
+  }
+}
+bool TimeBasedTiltCover::is_at_target_position_() const {
+  switch (this->current_operation) {
+    case COVER_OPERATION_OPENING:
+      return this->position >= this->target_position_;
+    case COVER_OPERATION_CLOSING:
+      return this->position <= this->target_position_;
+    case COVER_OPERATION_IDLE:
+    default:
+      return true;
+  }
+}
+
+bool TimeBasedTiltCover::is_at_target_tilt_() const {
+  switch (this->current_operation) {
+    case COVER_OPERATION_OPENING:
+      return this->tilt >= this->target_tilt_;
+    case COVER_OPERATION_CLOSING:
+      return this->tilt <= this->target_tilt_;
+    case COVER_OPERATION_IDLE:
+    default:
+      return true;
+  }
+}
+
+void TimeBasedTiltCover::loop() {
+
+  if ( this->fsm_state_ == STATE_IDLE  && this->target_position_ == TARGET_NONE && this->target_tilt_ == TARGET_NONE ) return;
+
+  const uint32_t now = millis();
+
+  if ( this->fsm_state_ == STATE_CALIBRATING ) {
+    if ( now - this->last_recompute_time_ >= this->recalibration_time_ ) {
+      this->fsm_state_ = STATE_STOPPING;
+    }
+    return;
+  }
+
+  if ( this->fsm_state_ == STATE_STOPPING )
+  {
+    this->stop_trigger_->trigger();
+    this->interlockedTime = millis();
+    this->interlocked_direction = this->current_operation == COVER_OPERATION_CLOSING ? COVER_OPERATION_OPENING : COVER_OPERATION_CLOSING;
+    this->fsm_state_ = STATE_IDLE;
+    this->last_operation_ = this->current_operation;
+    this->current_operation = COVER_OPERATION_IDLE;
+    return;
+  }
+
+  if ( this->fsm_state_ == STATE_IDLE &&  (this->target_position_ != TARGET_NONE || this->target_tilt_ != TARGET_NONE) )
+  {
+
+    if (this->target_position_ != TARGET_NONE ) {
+      this->current_operation =  this->compute_direction(this->target_position_,this->position);
+    } else {
+      this->current_operation =  this->compute_direction(this->target_tilt_,this->tilt);
+    }
+
+    if ( this->current_operation == this->interlocked_direction
+                && now - this->interlockedTime < this->interlock_wait_time_ ) return;
+
+    Trigger<> *trig = this->current_operation == COVER_OPERATION_CLOSING ? this->close_trigger_ : this->open_trigger_;
+
+    trig->trigger();
+    this->last_recompute_time_ = now;
+
+    this->fsm_state_ = STATE_MOVING;
+    return;
+  }
+
+  if ( this->fsm_state_ == STATE_MOVING )
+  {
+
+    auto travel_time = now - this->last_recompute_time_;
+    this->last_recompute_time_ = now;
+
+    float dir_factor = this->current_operation == COVER_OPERATION_CLOSING ? -1.0 : 1.0 ;
+    auto inertia_time = this->current_operation == COVER_OPERATION_CLOSING ? this->inertia_close_time_ : this->inertia_open_time_ ;
+
+    if ( inertia_time > 0 && this->inertia * dir_factor < 0.5f  )       // inertia before movement
+    {
+      auto inertia_step = dir_factor * travel_time / inertia_time;
+      this->inertia += inertia_step;
+      auto rest = this->inertia - clamp( this->inertia , -0.5f, 0.5f);
+      this->inertia = clamp( this->inertia, -0.5f, 0.5f);
+
+      if ( ! rest ) return; // the movement has not yet actually started
+      travel_time = dir_factor * rest *  inertia_time; // actual movement time taking inertia into account
+    }
+
+    auto tilt_time = this->current_operation == COVER_OPERATION_CLOSING ? this->tilt_close_duration_ : this->tilt_open_duration_;
+
+    if ( tilt_time > 0 && ( this->tilt - 0.5f ) * dir_factor < 0.5f  )  // tilting before movement
+    {
+      auto tilt_step =    dir_factor * travel_time / tilt_time;
+      this->tilt += tilt_step;
+      auto rest = this->tilt - 0.5f - clamp( this->tilt - 0.5f , -0.5f, 0.5f);
+      this->tilt = clamp( this->tilt ,  0.0f, 1.0f);
+
+      if (this->target_position_ == TARGET_NONE && this->is_at_target_tilt_()){ // only tilting w/o position change
+        this->last_recompute_time_ = now;
+        this->target_tilt_ = TARGET_NONE;
+        this->publish_state();
+        this->last_publish_time_= now;
+
+        if ( ( this->position == 0.0f && this->tilt == 0.0f ) || ( this->position == 1.0f  && this->tilt == 1.0f ) ) // start recalibration
+        {
+          this->fsm_state_ = STATE_CALIBRATING;
+        } else {
+          this->fsm_state_ = STATE_STOPPING;
+        }
+
+        return;  // only tilting w/o position change so no need to recompute position
+      }
+
+      if ( now - this->last_publish_time_  > 300 ){
+          this->publish_state(false);
+          this->last_publish_time_= now;
+      }
+
+      if ( ! rest ) return; // the movement has not yet actually started
+
+      travel_time = dir_factor * rest *  tilt_time; // actual movement time taking tilt into account
+    }
+
+    auto move_time = this->current_operation == COVER_OPERATION_CLOSING ? this->close_duration_ : this->open_duration_ ;
+
+    if ( move_time > 0 && ( this->position - 0.5f ) * dir_factor < 0.5f  )
+    {
+      auto move_step =  dir_factor * travel_time / move_time;
+      this->position += move_step;
+      this->position = clamp( this->position ,  0.0f, 1.0f);
+    }
+
+    if (this->is_at_target_position_()){
+      this->last_recompute_time_ = now;
+      this->target_position_ = TARGET_NONE;
+      this->publish_state();
+      this->last_publish_time_= now;
+
+      if ( ( this->position == 0.0f && this->tilt == 0.0f ) || ( this->position == 1.0f  && this->tilt == 1.0f ) )
+      {
+        this->fsm_state_ = STATE_CALIBRATING;
+      } else {
+        this->fsm_state_ = STATE_STOPPING;
+      }
+    }
+
+    if ( now - this->last_publish_time_  > 1000 ){
+        this->publish_state(false);
+        this->last_publish_time_= now;
+    }
+  }
+
+}
+
+float TimeBasedTiltCover::get_setup_priority() const { return setup_priority::DATA; }
+CoverTraits TimeBasedTiltCover::get_traits() {
+  auto traits = CoverTraits();
+  traits.set_supports_position(true);
+  traits.set_supports_tilt(this->tilt_close_duration_ !=0 && this->tilt_open_duration_ !=0);
+  traits.set_supports_toggle(true);
+  traits.set_is_assumed_state(this->assumed_state_);
+  return traits;
+}
+void TimeBasedTiltCover::control(const CoverCall &call) {
+  if (call.get_stop()) {
+    this->target_position_ = TARGET_NONE;
+    this->target_tilt_= TARGET_NONE;
+    if (this->fsm_state_ == STATE_MOVING){
+          this->fsm_state_ = STATE_STOPPING;
+    }
+    return;
+  }
+  if (call.get_position().has_value() && call.get_tilt().has_value() ) {
+      auto pos = *call.get_position();
+      auto til = *call.get_tilt();
+
+      if (this->round_position(pos) == this->round_position(this->position))
+          pos = TARGET_NONE;
+      if (this->round_position(til) == this->round_position(this->tilt))
+          til = TARGET_NONE;
+
+      this->target_position_ = pos;
+      this->target_tilt_ = til;
+
+      if (this->fsm_state_ == STATE_MOVING){ //TODO: check direction also on tilting
+        auto direction = COVER_OPERATION_IDLE;
+        if ( this->target_position_ != TARGET_NONE && this->target_position_ != this->position) {
+          direction =  this->compute_direction(this->target_position_ , this->position );
+        } else if ( this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt){
+          direction =  this->compute_direction( this->target_tilt_ , this->tilt );
+        }
+
+        if (direction != this->current_operation )
+        {
+          this->fsm_state_ = STATE_STOPPING;
+        }
+      }
+  } else if (call.get_position().has_value()) {
+      auto pos = *call.get_position();
+
+        if ( pos == 0.0f  && this->position == 0.0f && this->tilt != 0.0f ){
+          pos = TARGET_NONE;
+          this->target_tilt_ = 0.0f;
+        } else if ( pos == 1.0f  && this->position == 1.0f && this->tilt != 1.0f ){
+          pos = TARGET_NONE;
+          this->target_tilt_ = 1.0f;
+        } else if ( this->round_position(pos) == this->round_position(this->position) ){
+          pos = TARGET_NONE;
+        }
+
+      this->target_position_ = pos;
+
+      if (this->fsm_state_ == STATE_MOVING){
+        auto direction = COVER_OPERATION_IDLE;
+        if ( this->target_position_ != TARGET_NONE && this->target_position_ != this->position) {
+          direction =  this->compute_direction(this->target_position_ , this->position );
+          this->target_tilt_ = TARGET_NONE; // unset previous target tilt
+        } else if ( this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt){
+          direction =  this->compute_direction( this->target_tilt_ , this->tilt );
+        }
+
+        if (direction != this->current_operation )
+        {
+          this->fsm_state_ = STATE_STOPPING;
+        }
+      }
+  } else  if (call.get_tilt().has_value()) {
+      auto til = *call.get_tilt();
+        if ( this->round_position(til) == this->round_position(this->tilt) )
+        {
+          til = TARGET_NONE;
+        }
+
+      this->target_tilt_ = til;
+
+      if (this->fsm_state_ == STATE_MOVING){
+        auto direction = COVER_OPERATION_IDLE;
+        if ( this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt){
+          direction =  this->compute_direction( this->target_tilt_ , this->tilt );
+          this->target_position_ = TARGET_NONE;
+        }
+
+        if (direction != this->current_operation )
+        {
+          this->fsm_state_ = STATE_STOPPING;
+        }
+      }
+  }
+
+  if (call.get_toggle().has_value()) {
+    if (this->current_operation != COVER_OPERATION_IDLE) {
+      this->publish_state();
+      this->fsm_state_ = STATE_STOPPING;
+      this->target_position_ = TARGET_NONE;
+      this->target_tilt_ = TARGET_NONE;
+    } else {
+      if  ( this->position == COVER_CLOSED && this->tilt == COVER_CLOSED ) {
+        this->target_position_ = COVER_OPEN;
+      } else if ( this->position == COVER_OPEN && this->tilt == COVER_OPEN ) {
+        this->target_position_ = COVER_CLOSED;
+      } else if ( this->last_operation_ == COVER_OPERATION_CLOSING ) {
+        if (this->position != COVER_OPEN) {
+          this->target_position_ = COVER_OPEN;
+        } else {
+          this->target_tilt_ = COVER_OPEN;
+        }
+      } else {
+        if (this->position != COVER_CLOSED) {
+          this->target_position_ = COVER_CLOSED;
+        } else {
+          this->target_tilt_ = COVER_CLOSED;
+        }
+      }
+    }
+  }
+}
+
+}  // namespace time_based_tilt
+}  // namespace esphome
diff --git a/esphome/components/time_based_tilt/time_based_tilt_cover.h b/esphome/components/time_based_tilt/time_based_tilt_cover.h
new file mode 100644
index 0000000000..974a5acc0c
--- /dev/null
+++ b/esphome/components/time_based_tilt/time_based_tilt_cover.h
@@ -0,0 +1,76 @@
+#pragma once
+
+#include "esphome/core/component.h"
+#include "esphome/core/automation.h"
+#include "esphome/components/cover/cover.h"
+
+namespace esphome {
+namespace time_based_tilt {
+
+class TimeBasedTiltCover : public cover::Cover, public Component {
+ public:
+  void setup() override;
+  void loop() override;
+  void dump_config() override;
+  float get_setup_priority() const override;
+
+  Trigger<> *get_open_trigger() const { return this->open_trigger_; }
+  Trigger<> *get_close_trigger() const { return this->close_trigger_; }
+  Trigger<> *get_stop_trigger() const { return this->stop_trigger_; }
+  void set_open_duration(uint32_t open_duration) { this->open_duration_ = open_duration; }
+  void set_close_duration(uint32_t close_duration) { this->close_duration_ = close_duration; }
+  void set_tilt_open_duration(uint32_t tilt_open_duration) { this->tilt_open_duration_ = tilt_open_duration; }
+  void set_tilt_close_duration(uint32_t tilt_close_duration) { this->tilt_close_duration_ = tilt_close_duration; }
+  void set_interlock_wait_time(uint32_t interlock_wait_time) { this->interlock_wait_time_ = interlock_wait_time; }
+  void set_recalibration_time(uint32_t recalibration_time) { this->recalibration_time_ = recalibration_time; }
+  void set_inertia_open_time(uint32_t inertia_time) { this->inertia_open_time_ = inertia_time; }
+  void set_inertia_close_time(uint32_t inertia_time) { this->inertia_close_time_ = inertia_time; }
+  cover::CoverOperation compute_direction(float target, float current){ return target < current ? cover::COVER_OPERATION_CLOSING : cover::COVER_OPERATION_OPENING ; };
+  float round_position(float pos) { return round(100 * pos)/100; };
+  cover::CoverTraits get_traits() override;
+  void set_assumed_state(bool value) { this->assumed_state_ = value; }
+
+ protected:
+  void control(const cover::CoverCall &call) override;
+  bool is_at_target_position_() const;
+  bool is_at_target_tilt_() const;
+  
+  Trigger<> *open_trigger_{new Trigger<>()};
+  Trigger<> *close_trigger_{new Trigger<>()};
+  Trigger<> *stop_trigger_{new Trigger<>()};
+
+  uint32_t open_duration_;
+  uint32_t close_duration_;
+
+  uint32_t tilt_close_duration_;
+  uint32_t tilt_open_duration_;
+
+  uint32_t interlock_wait_time_;
+  uint32_t recalibration_time_;
+  uint32_t inertia_open_time_;
+  uint32_t inertia_close_time_;
+
+  const float TARGET_NONE{-1};
+  enum State : uint8_t {
+    STATE_IDLE, 
+    STATE_MOVING, 
+    STATE_STOPPING, 
+    STATE_CALIBRATING
+  };
+
+  Trigger<> *prev_command_trigger_{nullptr};
+  uint32_t last_recompute_time_{0};
+  uint32_t last_publish_time_{0};
+  float target_position_{TARGET_NONE};
+  float target_tilt_{TARGET_NONE};
+  float inertia{0.0f};
+  bool has_built_in_endstop_{false};
+  bool assumed_state_{false};
+  cover::CoverOperation last_operation_{cover::COVER_OPERATION_OPENING};
+  State fsm_state_{STATE_IDLE};
+  cover::CoverOperation interlocked_direction{cover::COVER_OPERATION_IDLE};
+  uint32_t interlockedTime{0};
+};
+
+}  // namespace time_based_tilt
+}  // namespace esphome